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Provably Safe Decentralized Contingency MPC under State-Only Information and Limited Sensing for Nonlinear Multi-agent Systems
This paper considers decentralized contingency MPC for multi-agent control under a state-only information pattern, with particular focus on limited sensing and plug-and-play operation. The objective is to retain recursive feasibility, safety, and Lyapunov-type convergence while reducing conservatism in local interaction handling. The framework relies on agent-wise fallback regions (safe sets) in which a feasible contingency maneuver to a safe equilibrium is always available. A novel safe-set update mechanism is introduced that supports less conservative decentralized interaction while preservi
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Evidence & attribution
- arXiv · AI, language, vision and robotics · 2026-08-31T14:33:59.000Z
First collected: 2026-09-21T06:41:57.136Z. This is not the publication date.